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#include "_cv.h"

// cvCorrectMatches function is Copyright (C) 2009, Jostein Austvik Jacobsen.
// cvTriangulatePoints function is derived from icvReconstructPointsFor3View, originally by Valery Mosyagin.

// HZ, R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge Univ. Press, 2003.



// This method is the same as icvReconstructPointsFor3View, with only a few numbers adjusted for two-view geometry
CV_IMPL void
cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMat* projPoints2, CvMat* points4D)
{
  CV_FUNCNAME( "cvTriangulatePoints" );
  __BEGIN__;

  if( projMatr1 == 0 || projMatr2 == 0 ||
      projPoints1 == 0 || projPoints2 == 0 ||
      points4D == 0)
    {
      CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
    }

  if( !CV_IS_MAT(projMatr1) || !CV_IS_MAT(projMatr2) ||
      !CV_IS_MAT(projPoints1) || !CV_IS_MAT(projPoints2) ||
      !CV_IS_MAT(points4D) )
    {
      CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be matrices" );
    }

  int numPoints;
  numPoints = projPoints1->cols;

  if( numPoints < 1 )
    {
      CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );
    }

  if( projPoints2->cols != numPoints || points4D->cols != numPoints )
    {
      CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same" );
    }

  if( projPoints1->rows != 2 || projPoints2->rows != 2)
    {
      CV_ERROR( CV_StsUnmatchedSizes, "Number of proj points coordinates must be == 2" );
    }

  if( points4D->rows != 4 )
    {
      CV_ERROR( CV_StsUnmatchedSizes, "Number of world points coordinates must be == 4" );
    }

  if( projMatr1->cols != 4 || projMatr1->rows != 3 ||
      projMatr2->cols != 4 || projMatr2->rows != 3)
    {
      CV_ERROR( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" );
    }

  CvMat matrA;
  double matrA_dat[24];
  matrA = cvMat(6,4,CV_64F,matrA_dat);

  //CvMat matrU;
  CvMat matrW;
  CvMat matrV;
  //double matrU_dat[9*9];
  double matrW_dat[6*4];
  double matrV_dat[4*4];

  //matrU = cvMat(6,6,CV_64F,matrU_dat);
  matrW = cvMat(6,4,CV_64F,matrW_dat);
  matrV = cvMat(4,4,CV_64F,matrV_dat);

  CvMat* projPoints[2];
  CvMat* projMatrs[2];
    
  projPoints[0] = projPoints1;
  projPoints[1] = projPoints2;

  projMatrs[0] = projMatr1;
  projMatrs[1] = projMatr2;

  /* Solve system for each point */
  int i,j;
  for( i = 0; i < numPoints; i++ )/* For each point */
    {
      /* Fill matrix for current point */
      for( j = 0; j < 2; j++ )/* For each view */
        {
	  double x,y;
	  x = cvmGet(projPoints[j],0,i);
	  y = cvmGet(projPoints[j],1,i);
	  for( int k = 0; k < 4; k++ )
            {
	      cvmSet(&matrA, j*3+0, k, x * cvmGet(projMatrs[j],2,k) -     cvmGet(projMatrs[j],0,k) );
	      cvmSet(&matrA, j*3+1, k, y * cvmGet(projMatrs[j],2,k) -     cvmGet(projMatrs[j],1,k) );
	      cvmSet(&matrA, j*3+2, k, x * cvmGet(projMatrs[j],1,k) - y * cvmGet(projMatrs[j],0,k) );
            }
        }
      /* Solve system for current point */
      {
	cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);

	/* Copy computed point */
	cvmSet(points4D,0,i,cvmGet(&matrV,3,0));/* X */
	cvmSet(points4D,1,i,cvmGet(&matrV,3,1));/* Y */
	cvmSet(points4D,2,i,cvmGet(&matrV,3,2));/* Z */
	cvmSet(points4D,3,i,cvmGet(&matrV,3,3));/* W */
      }
    }

  /* Points was reconstructed. Try to reproject points */
  /* We can compute reprojection error if need */
  {
    int i;
    CvMat point3D;
    double point3D_dat[4];
    point3D = cvMat(4,1,CV_64F,point3D_dat);

    CvMat point2D;
    double point2D_dat[3];
    point2D = cvMat(3,1,CV_64F,point2D_dat);

    for( i = 0; i < numPoints; i++ )
      {
	double W = cvmGet(points4D,3,i);

	point3D_dat[0] = cvmGet(points4D,0,i)/W;
	point3D_dat[1] = cvmGet(points4D,1,i)/W;
	point3D_dat[2] = cvmGet(points4D,2,i)/W;
	point3D_dat[3] = 1;

	/* !!! Project this point for each camera */
	for( int currCamera = 0; currCamera < 2; currCamera++ )
	  {
	    cvmMul(projMatrs[currCamera], &point3D, &point2D);

	    float x,y;
	    float xr,yr,wr;
	    x = (float)cvmGet(projPoints[currCamera],0,i);
	    y = (float)cvmGet(projPoints[currCamera],1,i);

	    wr = (float)point2D_dat[2];
	    xr = (float)(point2D_dat[0]/wr);
	    yr = (float)(point2D_dat[1]/wr);

	    float deltaX,deltaY;
	    deltaX = (float)fabs(x-xr);
	    deltaY = (float)fabs(y-yr);
	  }
      }
  }

  __END__;
  return;
}


static void writePoint( double x, double y, CvMat* ptvec, int p )
{
    uchar* ptr = ptvec->data.ptr;
    int depth = CV_MAT_DEPTH(ptvec->type);
    switch (depth) {
    case CV_64F:
        ((double*)ptr)[p*2] = x;
        ((double*)ptr)[p*2+1] = y;
        break;
    case CV_32F:
        ((float*)ptr)[p*2] = (float)x;
        ((float*)ptr)[p*2+1] = (float)y;
        break;
    case CV_32S:
        ((int*)ptr)[p*2] = cv::saturate_cast<int>(x);
        ((int*)ptr)[p*2+1] = cv::saturate_cast<int>(y);
        break;
    case CV_16U:
        ((ushort*)ptr)[p*2] = cv::saturate_cast<ushort>(x);
        ((ushort*)ptr)[p*2+1] = cv::saturate_cast<ushort>(y);
        break;
    case CV_16S:
        ((short*)ptr)[p*2] = cv::saturate_cast<short>(x);
        ((short*)ptr)[p*2+1] = cv::saturate_cast<short>(y);
        break;
    case CV_8S:
        ((schar*)ptr)[p*2] = cv::saturate_cast<schar>(x);
        ((schar*)ptr)[p*2+1] = cv::saturate_cast<schar>(y);
        break;
    case CV_8U:
        ((uchar*)ptr)[p*2] = cv::saturate_cast<uchar>(x);
        ((uchar*)ptr)[p*2+1] = cv::saturate_cast<uchar>(y);
        break;
    default:
        CV_Error(CV_StsUnsupportedFormat, "");
    }
}

/*
 *	The Optimal Triangulation Method (see HZ for details)
 *		For each given point correspondence points1[i] <-> points2[i], and a fundamental matrix F,
 *		computes the corrected correspondences new_points1[i] <-> new_points2[i] that minimize the
 *		geometric error d(points1[i],new_points1[i])^2 + d(points2[i],new_points2[i])^2 (where d(a,b)
 *		is the geometric distance between points a and b) subject to the epipolar constraint
 *		new_points2' * F * new_points1 = 0.
 *
 *		F_			:	3x3 fundamental matrix
 *		points1_	:	2xN matrix containing the first set of points
 *		points2_	:	2xN matrix containing the second set of points
 *		new_points1	:	the optimized points1_. if this is NULL, the corrected points are placed back in points1_
 *		new_points2	:	the optimized points2_. if this is NULL, the corrected points are placed back in points2_
 */
CV_IMPL void
cvCorrectMatches(CvMat *F_, CvMat *points1_, CvMat *points2_, CvMat *new_points1, CvMat *new_points2) {
  CvMat *tmp33 = NULL;
  CvMat *tmp31 = NULL, *tmp31_2 = NULL;
  CvMat *T1i = NULL, *T2i = NULL;
  CvMat *R1 = NULL, *R2 = NULL;
  CvMat *TFT = NULL, *TFTt = NULL, *RTFTR = NULL;
  CvMat *U = NULL, *S = NULL, *V = NULL;
  CvMat *e1 = NULL, *e2 = NULL;
  CvMat *polynomial = NULL;
  CvMat *result = NULL;
  CvMat *points1 = NULL, *points2 = NULL;
  CvMat *F = NULL;
  int F_type = -1, p1_type = -1, p2_type = -1, np1_type = -1, np2_type = -1;
	
  CV_FUNCNAME( "cvCorrectMatches" );
  __BEGIN__;
	
  if (!CV_IS_MAT(F_) || !CV_IS_MAT(points1_) || !CV_IS_MAT(points2_) )
    CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be matrices" );
  if (!( F_->cols == 3 && F_->rows == 3))
    CV_ERROR( CV_StsUnmatchedSizes, "The fundamental matrix must be a 3x3 matrix");
  if (!(((F_->type & CV_MAT_TYPE_MASK) >> 3) == 0 ))
    CV_ERROR( CV_StsUnsupportedFormat, "The fundamental matrix must be a single-channel matrix" );
  if (!(points1_->rows == 1 && points2_->rows == 1 && points1_->cols == points2_->cols))
    CV_ERROR( CV_StsUnmatchedSizes, "The point-matrices must have two rows, and an equal number of columns" );
  if (((points1_->type & CV_MAT_TYPE_MASK) >> 3) != 1 )
    CV_ERROR( CV_StsUnmatchedSizes, "The first set of points must contain two channels; one for x and one for y" );
  if (((points2_->type & CV_MAT_TYPE_MASK) >> 3) != 1 )
    CV_ERROR( CV_StsUnmatchedSizes, "The second set of points must contain two channels; one for x and one for y" );
  if (new_points1 != NULL && CV_IS_MAT(new_points1)) {
    if (new_points1->cols != points1_->cols || new_points1->rows != 1)
      CV_ERROR( CV_StsUnmatchedSizes, "The first output matrix must have the same dimensions as the input matrices" );
    if (((new_points1->type & CV_MAT_TYPE_MASK) >> 3) != 1)
      CV_ERROR( CV_StsUnsupportedFormat, "The first output matrix must have two channels; one for x and one for y" );
  }
  if (new_points2 != NULL && CV_IS_MAT(new_points2)) {
    if (new_points2->cols != points2_->cols || new_points2->rows != 1)
      CV_ERROR( CV_StsUnmatchedSizes, "The second output matrix must have the same dimensions as the input matrices" );
    if (((new_points2->type & CV_MAT_TYPE_MASK) >> 3) != 1)
      CV_ERROR( CV_StsUnsupportedFormat, "The second output matrix must have two channels; one for x and one for y" );
  }
	
  // Make sure F uses double precision
  F_type = ((F_->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
  if (F_type != 6) {
    F = cvCreateMat(3,3,CV_64FC1);
    switch (F_type) {
    case 5: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.fl[i]; break;
    case 4: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.i[i]; break;
    case 3:
    case 2: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.s[i]; break;
    case 1:
    case 0: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.ptr[i]; break;
    }
  }
  else F = F_;
	
  // Make sure points1 uses double precision
  p1_type = ((points1_->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
  points1 = points1_;
  if (p1_type != 6) {
    points1 = cvCreateMat(1,points1_->cols,CV_64FC2);
    switch (p1_type) {
    case 5: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.fl[i]; break;
    case 4: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.i[i]; break;
    case 3:
    case 2: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.s[i]; break;
    case 1:
    case 0: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.ptr[i]; break;
    }
  }
	
  // Make sure points2 uses double precision
  p2_type = ((points2_->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
  points2 = points2_;
  if (p2_type != 6) {
    points2 = cvCreateMat(1,points2_->cols,CV_64FC2);
    switch (p2_type) {
    case 5: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.fl[i]; break;
    case 4: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.i[i]; break;
    case 3:
    case 2: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.s[i]; break;
    case 1:
    case 0: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.ptr[i]; break;
    }
  }
	
  tmp33 = cvCreateMat(3,3,CV_64FC1);
  tmp31 = cvCreateMat(3,1,CV_64FC1), tmp31_2 = cvCreateMat(3,1,CV_64FC1);
  T1i = cvCreateMat(3,3,CV_64FC1), T2i = cvCreateMat(3,3,CV_64FC1);
  R1 = cvCreateMat(3,3,CV_64FC1), R2 = cvCreateMat(3,3,CV_64FC1);
  TFT = cvCreateMat(3,3,CV_64FC1), TFTt = cvCreateMat(3,3,CV_64FC1), RTFTR = cvCreateMat(3,3,CV_64FC1);
  U = cvCreateMat(3,3,CV_64FC1);
  S = cvCreateMat(3,3,CV_64FC1);
  V = cvCreateMat(3,3,CV_64FC1);
  e1 = cvCreateMat(3,1,CV_64FC1), e2 = cvCreateMat(3,1,CV_64FC1);
  if (new_points1 != NULL) np1_type = ((new_points1->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
  if (new_points2 != NULL) np2_type = ((new_points2->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
	
  double x1, y1, x2, y2;
  double scale;
  double f1, f2, a, b, c, d;
  polynomial = cvCreateMat(1,7,CV_64FC1);
  result = cvCreateMat(1,6,CV_64FC2);
  double t_min, s_val, t, s;
  for (int p = 0; p < points1->cols; ++p) {
    // Replace F by T2-t * F * T1-t
    x1 = points1->data.db[p*2];
    y1 = points1->data.db[p*2+1];
    x2 = points2->data.db[p*2];
    y2 = points2->data.db[p*2+1];
		
    cvSetZero(T1i);
    cvSetReal2D(T1i,0,0,1);
    cvSetReal2D(T1i,1,1,1);
    cvSetReal2D(T1i,2,2,1);
    cvSetReal2D(T1i,0,2,x1);
    cvSetReal2D(T1i,1,2,y1);
    cvSetZero(T2i);
    cvSetReal2D(T2i,0,0,1);
    cvSetReal2D(T2i,1,1,1);
    cvSetReal2D(T2i,2,2,1);
    cvSetReal2D(T2i,0,2,x2);
    cvSetReal2D(T2i,1,2,y2);
    cvGEMM(T2i,F,1,0,0,tmp33,CV_GEMM_A_T);
    cvSetZero(TFT);
    cvGEMM(tmp33,T1i,1,0,0,TFT);

    // Compute the right epipole e1 from F * e1 = 0
    cvSetZero(U);
    cvSetZero(S);
    cvSetZero(V);
    cvSVD(TFT,S,U,V);
    scale = sqrt(cvGetReal2D(V,0,2)*cvGetReal2D(V,0,2) + cvGetReal2D(V,1,2)*cvGetReal2D(V,1,2));
    cvSetReal2D(e1,0,0,cvGetReal2D(V,0,2)/scale);
    cvSetReal2D(e1,1,0,cvGetReal2D(V,1,2)/scale);
    cvSetReal2D(e1,2,0,cvGetReal2D(V,2,2)/scale);
    if (cvGetReal2D(e1,2,0) < 0) {
      cvSetReal2D(e1,0,0,-cvGetReal2D(e1,0,0));
      cvSetReal2D(e1,1,0,-cvGetReal2D(e1,1,0));
      cvSetReal2D(e1,2,0,-cvGetReal2D(e1,2,0));
    }
		
    // Compute the left epipole e2 from e2' * F = 0  =>  F' * e2 = 0
    cvSetZero(TFTt);
    cvTranspose(TFT, TFTt);
    cvSetZero(U);
    cvSetZero(S);
    cvSetZero(V);
    cvSVD(TFTt,S,U,V);
    cvSetZero(e2);
    scale = sqrt(cvGetReal2D(V,0,2)*cvGetReal2D(V,0,2) + cvGetReal2D(V,1,2)*cvGetReal2D(V,1,2));
    cvSetReal2D(e2,0,0,cvGetReal2D(V,0,2)/scale);
    cvSetReal2D(e2,1,0,cvGetReal2D(V,1,2)/scale);
    cvSetReal2D(e2,2,0,cvGetReal2D(V,2,2)/scale);
    if (cvGetReal2D(e2,2,0) < 0) {
      cvSetReal2D(e2,0,0,-cvGetReal2D(e2,0,0));
      cvSetReal2D(e2,1,0,-cvGetReal2D(e2,1,0));
      cvSetReal2D(e2,2,0,-cvGetReal2D(e2,2,0));
    }
		
    // Replace F by R2 * F * R1'
    cvSetZero(R1);
    cvSetReal2D(R1,0,0,cvGetReal2D(e1,0,0));
    cvSetReal2D(R1,0,1,cvGetReal2D(e1,1,0));
    cvSetReal2D(R1,1,0,-cvGetReal2D(e1,1,0));
    cvSetReal2D(R1,1,1,cvGetReal2D(e1,0,0));
    cvSetReal2D(R1,2,2,1);
    cvSetZero(R2);
    cvSetReal2D(R2,0,0,cvGetReal2D(e2,0,0));
    cvSetReal2D(R2,0,1,cvGetReal2D(e2,1,0));
    cvSetReal2D(R2,1,0,-cvGetReal2D(e2,1,0));
    cvSetReal2D(R2,1,1,cvGetReal2D(e2,0,0));
    cvSetReal2D(R2,2,2,1);
    cvGEMM(R2,TFT,1,0,0,tmp33);
    cvGEMM(tmp33,R1,1,0,0,RTFTR,CV_GEMM_B_T);
		
    // Set f1 = e1(3), f2 = e2(3), a = F22, b = F23, c = F32, d = F33
    f1 = cvGetReal2D(e1,2,0);
    f2 = cvGetReal2D(e2,2,0);
    a = cvGetReal2D(RTFTR,1,1);
    b = cvGetReal2D(RTFTR,1,2);
    c = cvGetReal2D(RTFTR,2,1);
    d = cvGetReal2D(RTFTR,2,2);
		
    // Form the polynomial g(t) = k6*t⁶ + k5*t⁵ + k4*t⁴ + k3*t³ + k2*t² + k1*t + k0
    // from f1, f2, a, b, c and d
    cvSetReal2D(polynomial,0,6,( +b*c*c*f1*f1*f1*f1*a-a*a*d*f1*f1*f1*f1*c ));
    cvSetReal2D(polynomial,0,5,( +f2*f2*f2*f2*c*c*c*c+2*a*a*f2*f2*c*c-a*a*d*d*f1*f1*f1*f1+b*b*c*c*f1*f1*f1*f1+a*a*a*a ));
    cvSetReal2D(polynomial,0,4,( +4*a*a*a*b+2*b*c*c*f1*f1*a+4*f2*f2*f2*f2*c*c*c*d+4*a*b*f2*f2*c*c+4*a*a*f2*f2*c*d-2*a*a*d*f1*f1*c-a*d*d*f1*f1*f1*f1*b+b*b*c*f1*f1*f1*f1*d ));
    cvSetReal2D(polynomial,0,3,( +6*a*a*b*b+6*f2*f2*f2*f2*c*c*d*d+2*b*b*f2*f2*c*c+2*a*a*f2*f2*d*d-2*a*a*d*d*f1*f1+2*b*b*c*c*f1*f1+8*a*b*f2*f2*c*d ));
    cvSetReal2D(polynomial,0,2,( +4*a*b*b*b+4*b*b*f2*f2*c*d+4*f2*f2*f2*f2*c*d*d*d-a*a*d*c+b*c*c*a+4*a*b*f2*f2*d*d-2*a*d*d*f1*f1*b+2*b*b*c*f1*f1*d ));
    cvSetReal2D(polynomial,0,1,( +f2*f2*f2*f2*d*d*d*d+b*b*b*b+2*b*b*f2*f2*d*d-a*a*d*d+b*b*c*c ));
    cvSetReal2D(polynomial,0,0,( -a*d*d*b+b*b*c*d ));
		
    // Solve g(t) for t to get 6 roots
    cvSetZero(result);
    cvSolvePoly(polynomial, result, 100, 20);
		
    // Evaluate the cost function s(t) at the real part of the 6 roots
    t_min = DBL_MAX;
    s_val = 1./(f1*f1) + (c*c)/(a*a+f2*f2*c*c);
    for (int ti = 0; ti < 6; ++ti) {
      t = result->data.db[2*ti];
      s = (t*t)/(1 + f1*f1*t*t) + ((c*t + d)*(c*t + d))/((a*t + b)*(a*t + b) + f2*f2*(c*t + d)*(c*t + d));
      if (s < s_val) {
	s_val = s;
	t_min = t;
      }
    }
		
    // find the optimal x1 and y1 as the points on l1 and l2 closest to the origin
    tmp31->data.db[0] = t_min*t_min*f1;
    tmp31->data.db[1] = t_min;
    tmp31->data.db[2] = t_min*t_min*f1*f1+1;
    tmp31->data.db[0] /= tmp31->data.db[2];
    tmp31->data.db[1] /= tmp31->data.db[2];
    tmp31->data.db[2] /= tmp31->data.db[2];
    cvGEMM(T1i,R1,1,0,0,tmp33,CV_GEMM_B_T);
    cvGEMM(tmp33,tmp31,1,0,0,tmp31_2);
    x1 = tmp31_2->data.db[0];
    y1 = tmp31_2->data.db[1];
		
    tmp31->data.db[0] = f2*pow(c*t_min+d,2);
    tmp31->data.db[1] = -(a*t_min+b)*(c*t_min+d);
    tmp31->data.db[2] = f2*f2*pow(c*t_min+d,2) + pow(a*t_min+b,2);
    tmp31->data.db[0] /= tmp31->data.db[2];
    tmp31->data.db[1] /= tmp31->data.db[2];
    tmp31->data.db[2] /= tmp31->data.db[2];
    cvGEMM(T2i,R2,1,0,0,tmp33,CV_GEMM_B_T);
    cvGEMM(tmp33,tmp31,1,0,0,tmp31_2);
    x2 = tmp31_2->data.db[0];
    y2 = tmp31_2->data.db[1];
		
    // Return the points in the matrix format that the user wants
    writePoint(x1, y1, new_points1 ? new_points1 : points1_, p);
    writePoint(x2, y2, new_points2 ? new_points2 : points2_, p);
  }
	
  cvReleaseMat(&e1);
  cvReleaseMat(&e2);
  cvReleaseMat(&T1i);
  cvReleaseMat(&T2i);
  cvReleaseMat(&R1);
  cvReleaseMat(&R2);
  cvReleaseMat(&TFT);
  cvReleaseMat(&TFTt);
  cvReleaseMat(&RTFTR);
  cvReleaseMat(&U);
  cvReleaseMat(&S);
  cvReleaseMat(&V);
  cvReleaseMat(&tmp33);
  cvReleaseMat(&tmp31);
  cvReleaseMat(&tmp31_2);
	
  // release only if we created new ones with higher precision
  if (F_ != F) cvReleaseMat(&F);
  if (points1 != points1_) cvReleaseMat(&points1);
  if (points2 != points2_) cvReleaseMat(&points2);
	
  __END__;
}
